1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
6 Purpose: Manage output of sim parameters to file or stdout
9 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
11 This program is free software; you can redistribute it and/or modify it under
12 the terms of the GNU Lesser General Public License as published by the Free Software
13 Foundation; either version 2 of the License, or (at your option) any later
16 This program is distributed in the hope that it will be useful, but WITHOUT
17 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
18 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
21 You should have received a copy of the GNU Lesser General Public License along with
22 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
23 Place - Suite 330, Boston, MA 02111-1307, USA.
25 Further information about the GNU Lesser General Public License can also be found on
26 the world wide web at http://www.gnu.org.
28 FUNCTIONAL DESCRIPTION
29 --------------------------------------------------------------------------------
30 This is the place where you create output routines to dump data for perusal
34 --------------------------------------------------------------------------------
36 11/09/07 HDW Added FlightGear Socket Interface
38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
40 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include "FGFDMExec.h"
45 #include "FGAtmosphere.h"
47 #include "FGAerodynamics.h"
48 #include "FGGroundReactions.h"
49 #include "FGExternalReactions.h"
50 #include "FGBuoyantForces.h"
51 #include "FGAircraft.h"
52 #include "FGMassBalance.h"
53 #include "FGPropagate.h"
54 #include "FGAuxiliary.h"
55 #include "FGInertial.h"
56 #include "models/propulsion/FGEngine.h"
57 #include "models/propulsion/FGTank.h"
58 #include "models/propulsion/FGPiston.h"
64 #include "input_output/net_fdm.hxx"
65 #include "input_output/FGfdmSocket.h"
67 #if defined(WIN32) && !defined(__CYGWIN__)
70 # include <netinet/in.h> // htonl() ntohl()
73 static const int endianTest = 1;
74 #define isLittleEndian (*((char *) &endianTest ) != 0)
80 static const char *IdSrc = "$Id$";
81 static const char *IdHdr = ID_OUTPUT;
83 // (stolen from FGFS native_fdm.cxx)
84 // The function htond is defined this way due to the way some
85 // processors and OSes treat floating point values. Some will raise
86 // an exception whenever a "bad" floating point value is loaded into a
87 // floating point register. Solaris is notorious for this, but then
88 // so is LynxOS on the PowerPC. By translating the data in place,
89 // there is no need to load a FP register with the "corruped" floating
90 // point value. By doing the BIG_ENDIAN test, I can optimize the
91 // routine for big-endian processors so it can be as efficient as
93 static void htond (double &x)
95 if ( isLittleEndian ) {
99 Double_Overlay = (int *) &x;
100 Holding_Buffer = Double_Overlay [0];
102 Double_Overlay [0] = htonl (Double_Overlay [1]);
103 Double_Overlay [1] = htonl (Holding_Buffer);
110 static void htonf (float &x)
112 if ( isLittleEndian ) {
116 Float_Overlay = (int *) &x;
117 Holding_Buffer = Float_Overlay [0];
119 Float_Overlay [0] = htonl (Holding_Buffer);
126 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
128 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
130 FGOutput::FGOutput(FGFDMExec* fdmex) : FGModel(fdmex)
133 sFirstPass = dFirstPass = true;
135 flightGearSocket = 0;
140 StartNewFile = false;
142 BaseFilename = Filename = "";
144 output_file_name = "";
146 memset(&fgSockBuf, 0x00, sizeof(fgSockBuf));
151 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
153 FGOutput::~FGOutput()
156 delete flightGearSocket;
157 OutputProperties.clear();
161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
163 bool FGOutput::InitModel(void)
165 if (!FGModel::InitModel()) return false;
167 if (Filename.size() > 0 && StartNewFile) {
169 string::size_type dot = BaseFilename.find_last_of('.');
170 if (dot != string::npos) {
171 buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
173 buf << BaseFilename << '_' << runID_postfix++;
175 Filename = buf.str();
177 StartNewFile = false;
184 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
186 bool FGOutput::Run(void)
188 if (FGModel::Run()) return true;
190 if (enabled && !State->IntegrationSuspended()&& !FDMExec->Holding()) {
192 if (Type == otSocket) {
194 } else if (Type == otFlightGear) {
195 FlightGearSocketOutput();
196 } else if (Type == otCSV || Type == otTab) {
197 DelimitedOutput(Filename);
198 } else if (Type == otTerminal) {
200 } else if (Type == otNone) {
203 // Not a valid type of output
210 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
212 void FGOutput::SetType(const string& type)
217 } else if (type == "TABULAR") {
220 } else if (type == "SOCKET") {
222 } else if (type == "FLIGHTGEAR") {
224 } else if (type == "TERMINAL") {
226 } else if (type != string("NONE")) {
228 cerr << "Unknown type of output specified in config file" << endl;
232 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
234 void FGOutput::DelimitedOutput(const string& fname)
239 if (fname == "COUT" || fname == "cout") {
240 buffer = cout.rdbuf();
242 if (!datafile.is_open()) datafile.open(fname.c_str());
243 buffer = datafile.rdbuf();
246 ostream outstream(buffer);
248 outstream.precision(10);
252 if (SubSystems & ssSimulation) {
255 if (SubSystems & ssAerosurfaces) {
256 outstream << delimeter;
257 outstream << "Aileron Command (norm)" + delimeter;
258 outstream << "Elevator Command (norm)" + delimeter;
259 outstream << "Rudder Command (norm)" + delimeter;
260 outstream << "Flap Command (norm)" + delimeter;
261 outstream << "Left Aileron Position (deg)" + delimeter;
262 outstream << "Right Aileron Position (deg)" + delimeter;
263 outstream << "Elevator Position (deg)" + delimeter;
264 outstream << "Rudder Position (deg)" + delimeter;
265 outstream << "Flap Position (deg)";
267 if (SubSystems & ssRates) {
268 outstream << delimeter;
269 outstream << "P (deg/s)" + delimeter + "Q (deg/s)" + delimeter + "R (deg/s)" + delimeter;
270 outstream << "P dot (deg/s^2)" + delimeter + "Q dot (deg/s^2)" + delimeter + "R dot (deg/s^2)";
272 if (SubSystems & ssVelocities) {
273 outstream << delimeter;
274 outstream << "q bar (psf)" + delimeter;
275 outstream << "Reynolds Number" + delimeter;
276 outstream << "V_{Total} (ft/s)" + delimeter;
277 outstream << "V_{Inertial} (ft/s)" + delimeter;
278 outstream << "UBody" + delimeter + "VBody" + delimeter + "WBody" + delimeter;
279 outstream << "Aero V_{X Body} (ft/s)" + delimeter + "Aero V_{Y Body} (ft/s)" + delimeter + "Aero V_{Z Body} (ft/s)" + delimeter;
280 outstream << "V_{North} (ft/s)" + delimeter + "V_{East} (ft/s)" + delimeter + "V_{Down} (ft/s)";
282 if (SubSystems & ssForces) {
283 outstream << delimeter;
284 outstream << "F_{Drag} (lbs)" + delimeter + "F_{Side} (lbs)" + delimeter + "F_{Lift} (lbs)" + delimeter;
285 outstream << "L/D" + delimeter;
286 outstream << "F_{Aero x} (lbs)" + delimeter + "F_{Aero y} (lbs)" + delimeter + "F_{Aero z} (lbs)" + delimeter;
287 outstream << "F_{Prop x} (lbs)" + delimeter + "F_{Prop y} (lbs)" + delimeter + "F_{Prop z} (lbs)" + delimeter;
288 outstream << "F_{Gear x} (lbs)" + delimeter + "F_{Gear y} (lbs)" + delimeter + "F_{Gear z} (lbs)" + delimeter;
289 outstream << "F_{Ext x} (lbs)" + delimeter + "F_{Ext y} (lbs)" + delimeter + "F_{Ext z} (lbs)" + delimeter;
290 outstream << "F_{Buoyant x} (lbs)" + delimeter + "F_{Buoyant y} (lbs)" + delimeter + "F_{Buoyant z} (lbs)" + delimeter;
291 outstream << "F_{Total x} (lbs)" + delimeter + "F_{Total y} (lbs)" + delimeter + "F_{Total z} (lbs)";
293 if (SubSystems & ssMoments) {
294 outstream << delimeter;
295 outstream << "L_{Aero} (ft-lbs)" + delimeter + "M_{Aero} ( ft-lbs)" + delimeter + "N_{Aero} (ft-lbs)" + delimeter;
296 outstream << "L_{Prop} (ft-lbs)" + delimeter + "M_{Prop} (ft-lbs)" + delimeter + "N_{Prop} (ft-lbs)" + delimeter;
297 outstream << "L_{Gear} (ft-lbs)" + delimeter + "M_{Gear} (ft-lbs)" + delimeter + "N_{Gear} (ft-lbs)" + delimeter;
298 outstream << "L_{ext} (ft-lbs)" + delimeter + "M_{ext} (ft-lbs)" + delimeter + "N_{ext} (ft-lbs)" + delimeter;
299 outstream << "L_{Buoyant} (ft-lbs)" + delimeter + "M_{Buoyant} (ft-lbs)" + delimeter + "N_{Buoyant} (ft-lbs)" + delimeter;
300 outstream << "L_{Total} (ft-lbs)" + delimeter + "M_{Total} (ft-lbs)" + delimeter + "N_{Total} (ft-lbs)";
302 if (SubSystems & ssAtmosphere) {
303 outstream << delimeter;
304 outstream << "Rho (slugs/ft^3)" + delimeter;
305 outstream << "Absolute Viscosity" + delimeter;
306 outstream << "Kinematic Viscosity" + delimeter;
307 outstream << "Temperature (R)" + delimeter;
308 outstream << "P_{SL} (psf)" + delimeter;
309 outstream << "P_{Ambient} (psf)" + delimeter;
310 outstream << "Turbulence Magnitude (ft/sec)" + delimeter;
311 outstream << "Turbulence X Direction (rad)" + delimeter + "Turbulence Y Direction (rad)" + delimeter + "Turbulence Z Direction (rad)" + delimeter;
312 outstream << "Wind V_{North} (ft/s)" + delimeter + "Wind V_{East} (ft/s)" + delimeter + "Wind V_{Down} (ft/s)";
314 if (SubSystems & ssMassProps) {
315 outstream << delimeter;
316 outstream << "I_{xx}" + delimeter;
317 outstream << "I_{xy}" + delimeter;
318 outstream << "I_{xz}" + delimeter;
319 outstream << "I_{yx}" + delimeter;
320 outstream << "I_{yy}" + delimeter;
321 outstream << "I_{yz}" + delimeter;
322 outstream << "I_{zx}" + delimeter;
323 outstream << "I_{zy}" + delimeter;
324 outstream << "I_{zz}" + delimeter;
325 outstream << "Mass" + delimeter;
326 outstream << "X_{cg}" + delimeter + "Y_{cg}" + delimeter + "Z_{cg}";
328 if (SubSystems & ssPropagate) {
329 outstream << delimeter;
330 outstream << "Altitude ASL (ft)" + delimeter;
331 outstream << "Altitude AGL (ft)" + delimeter;
332 outstream << "Phi (deg)" + delimeter + "Theta (deg)" + delimeter + "Psi (deg)" + delimeter;
333 outstream << "Alpha (deg)" + delimeter;
334 outstream << "Beta (deg)" + delimeter;
335 outstream << "Latitude (deg)" + delimeter;
336 outstream << "Longitude (deg)" + delimeter;
337 outstream << "ECEF X (ft)" + delimeter + "ECEF Y (ft)" + delimeter + "ECEF Z (ft)" + delimeter;
338 outstream << "EPA (deg)" + delimeter;
339 outstream << "Distance AGL (ft)" + delimeter;
340 outstream << "Terrain Elevation (ft)";
342 if (SubSystems & ssCoefficients) {
343 scratch = Aerodynamics->GetCoefficientStrings(delimeter);
344 if (scratch.length() != 0) outstream << delimeter << scratch;
346 if (SubSystems & ssFCS) {
347 scratch = FCS->GetComponentStrings(delimeter);
348 if (scratch.length() != 0) outstream << delimeter << scratch;
350 if (SubSystems & ssGroundReactions) {
351 outstream << delimeter;
352 outstream << GroundReactions->GetGroundReactionStrings(delimeter);
354 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
355 outstream << delimeter;
356 outstream << Propulsion->GetPropulsionStrings(delimeter);
358 if (OutputProperties.size() > 0) {
359 for (unsigned int i=0;i<OutputProperties.size();i++) {
360 outstream << delimeter << OutputProperties[i]->GetPrintableName();
368 outstream << State->Getsim_time();
369 if (SubSystems & ssSimulation) {
371 if (SubSystems & ssAerosurfaces) {
372 outstream << delimeter;
373 outstream << FCS->GetDaCmd() << delimeter;
374 outstream << FCS->GetDeCmd() << delimeter;
375 outstream << FCS->GetDrCmd() << delimeter;
376 outstream << FCS->GetDfCmd() << delimeter;
377 outstream << FCS->GetDaLPos(ofDeg) << delimeter;
378 outstream << FCS->GetDaRPos(ofDeg) << delimeter;
379 outstream << FCS->GetDePos(ofDeg) << delimeter;
380 outstream << FCS->GetDrPos(ofDeg) << delimeter;
381 outstream << FCS->GetDfPos(ofDeg);
383 if (SubSystems & ssRates) {
384 outstream << delimeter;
385 outstream << (radtodeg*Propagate->GetPQR()).Dump(delimeter) << delimeter;
386 outstream << (radtodeg*Propagate->GetPQRdot()).Dump(delimeter);
388 if (SubSystems & ssVelocities) {
389 outstream << delimeter;
390 outstream << Auxiliary->Getqbar() << delimeter;
391 outstream << Auxiliary->GetReynoldsNumber() << delimeter;
392 outstream << setprecision(12) << Auxiliary->GetVt() << delimeter;
393 outstream << Propagate->GetInertialVelocityMagnitude() << delimeter;
394 outstream << setprecision(12) << Propagate->GetUVW().Dump(delimeter) << delimeter;
395 outstream << Auxiliary->GetAeroUVW().Dump(delimeter) << delimeter;
396 outstream << Propagate->GetVel().Dump(delimeter);
397 outstream.precision(10);
399 if (SubSystems & ssForces) {
400 outstream << delimeter;
401 outstream << Aerodynamics->GetvFw().Dump(delimeter) << delimeter;
402 outstream << Aerodynamics->GetLoD() << delimeter;
403 outstream << Aerodynamics->GetForces().Dump(delimeter) << delimeter;
404 outstream << Propulsion->GetForces().Dump(delimeter) << delimeter;
405 outstream << GroundReactions->GetForces().Dump(delimeter) << delimeter;
406 outstream << ExternalReactions->GetForces().Dump(delimeter) << delimeter;
407 outstream << BuoyantForces->GetForces().Dump(delimeter) << delimeter;
408 outstream << Aircraft->GetForces().Dump(delimeter);
410 if (SubSystems & ssMoments) {
411 outstream << delimeter;
412 outstream << Aerodynamics->GetMoments().Dump(delimeter) << delimeter;
413 outstream << Propulsion->GetMoments().Dump(delimeter) << delimeter;
414 outstream << GroundReactions->GetMoments().Dump(delimeter) << delimeter;
415 outstream << ExternalReactions->GetMoments().Dump(delimeter) << delimeter;
416 outstream << BuoyantForces->GetMoments().Dump(delimeter) << delimeter;
417 outstream << Aircraft->GetMoments().Dump(delimeter);
419 if (SubSystems & ssAtmosphere) {
420 outstream << delimeter;
421 outstream << Atmosphere->GetDensity() << delimeter;
422 outstream << Atmosphere->GetAbsoluteViscosity() << delimeter;
423 outstream << Atmosphere->GetKinematicViscosity() << delimeter;
424 outstream << Atmosphere->GetTemperature() << delimeter;
425 outstream << Atmosphere->GetPressureSL() << delimeter;
426 outstream << Atmosphere->GetPressure() << delimeter;
427 outstream << Atmosphere->GetTurbMagnitude() << delimeter;
428 outstream << Atmosphere->GetTurbDirection().Dump(delimeter) << delimeter;
429 outstream << Atmosphere->GetTotalWindNED().Dump(delimeter);
431 if (SubSystems & ssMassProps) {
432 outstream << delimeter;
433 outstream << MassBalance->GetJ().Dump(delimeter) << delimeter;
434 outstream << MassBalance->GetMass() << delimeter;
435 outstream << MassBalance->GetXYZcg().Dump(delimeter);
437 if (SubSystems & ssPropagate) {
438 outstream.precision(14);
439 outstream << delimeter;
440 outstream << Propagate->GetAltitudeASL() << delimeter;
441 outstream << Propagate->GetDistanceAGL() << delimeter;
442 outstream << (radtodeg*Propagate->GetEuler()).Dump(delimeter) << delimeter;
443 outstream << Auxiliary->Getalpha(inDegrees) << delimeter;
444 outstream << Auxiliary->Getbeta(inDegrees) << delimeter;
445 outstream << Propagate->GetLocation().GetLatitudeDeg() << delimeter;
446 outstream << Propagate->GetLocation().GetLongitudeDeg() << delimeter;
447 outstream.precision(18);
448 outstream << ((FGColumnVector3)Propagate->GetLocation()).Dump(delimeter) << delimeter;
449 outstream.precision(14);
450 outstream << Inertial->GetEarthPositionAngleDeg() << delimeter;
451 outstream << Propagate->GetDistanceAGL() << delimeter;
452 outstream << Propagate->GetTerrainElevation();
453 outstream.precision(10);
455 if (SubSystems & ssCoefficients) {
456 scratch = Aerodynamics->GetCoefficientValues(delimeter);
457 if (scratch.length() != 0) outstream << delimeter << scratch;
459 if (SubSystems & ssFCS) {
460 scratch = FCS->GetComponentValues(delimeter);
461 if (scratch.length() != 0) outstream << delimeter << scratch;
463 if (SubSystems & ssGroundReactions) {
464 outstream << delimeter;
465 outstream << GroundReactions->GetGroundReactionValues(delimeter);
467 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
468 outstream << delimeter;
469 outstream << Propulsion->GetPropulsionValues(delimeter);
472 outstream.precision(18);
473 for (unsigned int i=0;i<OutputProperties.size();i++) {
474 outstream << delimeter << OutputProperties[i]->getDoubleValue();
476 outstream.precision(10);
482 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
484 void FGOutput::SocketDataFill(FGNetFDM* net)
489 net->version = FG_NET_FDM_VERSION;
492 net->longitude = Propagate->GetLocation().GetLongitude(); // geodetic (radians)
493 net->latitude = Propagate->GetLocation().GetLatitude(); // geodetic (radians)
494 net->altitude = Propagate->GetAltitudeASL()*0.3048; // altitude, above sea level (meters)
495 net->agl = (float)(Propagate->GetDistanceAGL()*0.3048); // altitude, above ground level (meters)
497 net->phi = (float)(Propagate->GetEuler(ePhi)); // roll (radians)
498 net->theta = (float)(Propagate->GetEuler(eTht)); // pitch (radians)
499 net->psi = (float)(Propagate->GetEuler(ePsi)); // yaw or true heading (radians)
501 net->alpha = (float)(Auxiliary->Getalpha()); // angle of attack (radians)
502 net->beta = (float)(Auxiliary->Getbeta()); // side slip angle (radians)
505 net->phidot = (float)(Auxiliary->GetEulerRates(ePhi)); // roll rate (radians/sec)
506 net->thetadot = (float)(Auxiliary->GetEulerRates(eTht)); // pitch rate (radians/sec)
507 net->psidot = (float)(Auxiliary->GetEulerRates(ePsi)); // yaw rate (radians/sec)
508 net->vcas = (float)(Auxiliary->GetVcalibratedFPS()); // VCAS, ft/sec
509 net->climb_rate = (float)(Propagate->Gethdot()); // altitude rate, ft/sec
510 net->v_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED frame, fps
511 net->v_east = (float)(Propagate->GetVel(eEast)); // east vel in NED frame, fps
512 net->v_down = (float)(Propagate->GetVel(eDown)); // down vel in NED frame, fps
513 //---ADD METHOD TO CALCULATE THESE TERMS---
514 net->v_wind_body_north = (float)(Propagate->GetVel(eNorth)); // north vel in NED relative to airmass, fps
515 net->v_wind_body_east = (float)(Propagate->GetVel(eEast)); // east vel in NED relative to airmass, fps
516 net->v_wind_body_down = (float)(Propagate->GetVel(eDown)); // down vel in NED relative to airmass, fps
519 net->A_X_pilot = (float)(Auxiliary->GetPilotAccel(1)); // X body accel, ft/s/s
520 net->A_Y_pilot = (float)(Auxiliary->GetPilotAccel(2)); // Y body accel, ft/s/s
521 net->A_Z_pilot = (float)(Auxiliary->GetPilotAccel(3)); // Z body accel, ft/s/s
524 net->stall_warning = 0.0; // 0.0 - 1.0 indicating the amount of stall
525 net->slip_deg = (float)(Auxiliary->Getbeta(inDegrees)); // slip ball deflection, deg
528 net->num_engines = Propulsion->GetNumEngines(); // Number of valid engines
530 for (i=0; i<net->num_engines; i++) {
531 if (Propulsion->GetEngine(i)->GetRunning())
532 net->eng_state[i] = 2; // Engine state running
533 else if (Propulsion->GetEngine(i)->GetCranking())
534 net->eng_state[i] = 1; // Engine state cranking
536 net->eng_state[i] = 0; // Engine state off
538 switch (Propulsion->GetEngine(i)->GetType()) {
539 case (FGEngine::etRocket):
541 case (FGEngine::etPiston):
542 net->rpm[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getRPM());
543 net->fuel_flow[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getFuelFlow_gph());
544 net->fuel_px[i] = 0; // Fuel pressure, psi (N/A in current model)
545 net->egt[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->GetEGT());
546 net->cht[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getCylinderHeadTemp_degF());
547 net->mp_osi[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getManifoldPressure_inHg());
548 net->oil_temp[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilTemp_degF());
549 net->oil_px[i] = (float)(((FGPiston *)Propulsion->GetEngine(i))->getOilPressure_psi());
550 net->tit[i] = 0; // Turbine Inlet Temperature (N/A for piston)
552 case (FGEngine::etTurbine):
554 case (FGEngine::etTurboprop):
556 case (FGEngine::etElectric):
558 case (FGEngine::etUnknown):
565 net->num_tanks = Propulsion->GetNumTanks(); // Max number of fuel tanks
567 for (i=0; i<net->num_tanks; i++) {
568 net->fuel_quantity[i] = (float)(((FGTank *)Propulsion->GetTank(i))->GetContents());
573 net->num_wheels = GroundReactions->GetNumGearUnits();
575 for (i=0; i<net->num_wheels; i++) {
576 net->wow[i] = GroundReactions->GetGearUnit(i)->GetWOW();
577 if (GroundReactions->GetGearUnit(i)->GetGearUnitDown())
578 net->gear_pos[i] = 1; //gear down, using FCS convention
580 net->gear_pos[i] = 0; //gear up, using FCS convention
581 net->gear_steer[i] = (float)(GroundReactions->GetGearUnit(i)->GetSteerNorm());
582 net->gear_compression[i] = (float)(GroundReactions->GetGearUnit(i)->GetCompLen());
587 net->cur_time = (long int)1234567890; // Friday, Feb 13, 2009, 23:31:30 UTC (not processed by FGFS anyway)
588 net->warp = 0; // offset in seconds to unix time
589 net->visibility = 25000.0; // visibility in meters (for env. effects)
592 // Control surface positions (normalized values)
593 net->elevator = (float)(FCS->GetDePos(ofNorm)); // Norm Elevator Pos, --
594 net->elevator_trim_tab = (float)(FCS->GetPitchTrimCmd()); // Norm Elev Trim Tab Pos, --
595 net->left_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
596 net->right_flap = (float)(FCS->GetDfPos(ofNorm)); // Norm Flap Pos, --
597 net->left_aileron = (float)(FCS->GetDaLPos(ofNorm)); // Norm L Aileron Pos, --
598 net->right_aileron = (float)(FCS->GetDaRPos(ofNorm)); // Norm R Aileron Pos, --
599 net->rudder = (float)(FCS->GetDrPos(ofNorm)); // Norm Rudder Pos, --
600 net->nose_wheel = (float)(FCS->GetDrPos(ofNorm)); // *** FIX *** Using Rudder Pos for NWS, --
601 net->speedbrake = (float)(FCS->GetDsbPos(ofNorm)); // Norm Speedbrake Pos, --
602 net->spoilers = (float)(FCS->GetDspPos(ofNorm)); // Norm Spoiler Pos, --
605 // Convert the net buffer to network format
606 if ( isLittleEndian ) {
607 net->version = htonl(net->version);
609 htond(net->longitude);
610 htond(net->latitude);
611 htond(net->altitude);
620 htonf(net->thetadot);
623 htonf(net->climb_rate);
627 htonf(net->v_wind_body_north);
628 htonf(net->v_wind_body_east);
629 htonf(net->v_wind_body_down);
631 htonf(net->A_X_pilot);
632 htonf(net->A_Y_pilot);
633 htonf(net->A_Z_pilot);
635 htonf(net->stall_warning);
636 htonf(net->slip_deg);
638 for (i=0; i<net->num_engines; ++i ) {
639 net->eng_state[i] = htonl(net->eng_state[i]);
641 htonf(net->fuel_flow[i]);
642 htonf(net->fuel_px[i]);
645 htonf(net->mp_osi[i]);
647 htonf(net->oil_temp[i]);
648 htonf(net->oil_px[i]);
650 net->num_engines = htonl(net->num_engines);
652 for (i=0; i<net->num_tanks; ++i ) {
653 htonf(net->fuel_quantity[i]);
655 net->num_tanks = htonl(net->num_tanks);
657 for (i=0; i<net->num_wheels; ++i ) {
658 net->wow[i] = htonl(net->wow[i]);
659 htonf(net->gear_pos[i]);
660 htonf(net->gear_steer[i]);
661 htonf(net->gear_compression[i]);
663 net->num_wheels = htonl(net->num_wheels);
665 net->cur_time = htonl( net->cur_time );
666 net->warp = htonl( net->warp );
667 htonf(net->visibility);
669 htonf(net->elevator);
670 htonf(net->elevator_trim_tab);
671 htonf(net->left_flap);
672 htonf(net->right_flap);
673 htonf(net->left_aileron);
674 htonf(net->right_aileron);
676 htonf(net->nose_wheel);
677 htonf(net->speedbrake);
678 htonf(net->spoilers);
682 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
684 void FGOutput::FlightGearSocketOutput(void)
686 int length = sizeof(fgSockBuf);
689 if (flightGearSocket == NULL) return;
690 if (!flightGearSocket->GetConnectStatus()) return;
692 SocketDataFill(&fgSockBuf);
693 flightGearSocket->Send((char *)&fgSockBuf, length);
696 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
698 void FGOutput::SocketOutput(void)
700 string asciiData, scratch;
702 if (socket == NULL) return;
703 if (!socket->GetConnectStatus()) return;
707 socket->Clear("<LABELS>");
708 socket->Append("Time");
710 if (SubSystems & ssAerosurfaces) {
711 socket->Append("Aileron Command");
712 socket->Append("Elevator Command");
713 socket->Append("Rudder Command");
714 socket->Append("Flap Command");
715 socket->Append("Left Aileron Position");
716 socket->Append("Right Aileron Position");
717 socket->Append("Elevator Position");
718 socket->Append("Rudder Position");
719 socket->Append("Flap Position");
722 if (SubSystems & ssRates) {
726 socket->Append("PDot");
727 socket->Append("QDot");
728 socket->Append("RDot");
731 if (SubSystems & ssVelocities) {
732 socket->Append("QBar");
733 socket->Append("Vtotal");
734 socket->Append("UBody");
735 socket->Append("VBody");
736 socket->Append("WBody");
737 socket->Append("UAero");
738 socket->Append("VAero");
739 socket->Append("WAero");
740 socket->Append("Vn");
741 socket->Append("Ve");
742 socket->Append("Vd");
744 if (SubSystems & ssForces) {
745 socket->Append("F_Drag");
746 socket->Append("F_Side");
747 socket->Append("F_Lift");
748 socket->Append("LoD");
749 socket->Append("Fx");
750 socket->Append("Fy");
751 socket->Append("Fz");
753 if (SubSystems & ssMoments) {
758 if (SubSystems & ssAtmosphere) {
759 socket->Append("Rho");
760 socket->Append("SL pressure");
761 socket->Append("Ambient pressure");
762 socket->Append("Turbulence Magnitude");
763 socket->Append("Turbulence Direction X");
764 socket->Append("Turbulence Direction Y");
765 socket->Append("Turbulence Direction Z");
766 socket->Append("NWind");
767 socket->Append("EWind");
768 socket->Append("DWind");
770 if (SubSystems & ssMassProps) {
771 socket->Append("Ixx");
772 socket->Append("Ixy");
773 socket->Append("Ixz");
774 socket->Append("Iyx");
775 socket->Append("Iyy");
776 socket->Append("Iyz");
777 socket->Append("Izx");
778 socket->Append("Izy");
779 socket->Append("Izz");
780 socket->Append("Mass");
781 socket->Append("Xcg");
782 socket->Append("Ycg");
783 socket->Append("Zcg");
785 if (SubSystems & ssPropagate) {
786 socket->Append("Altitude");
787 socket->Append("Phi (deg)");
788 socket->Append("Tht (deg)");
789 socket->Append("Psi (deg)");
790 socket->Append("Alpha (deg)");
791 socket->Append("Beta (deg)");
792 socket->Append("Latitude (deg)");
793 socket->Append("Longitude (deg)");
795 if (SubSystems & ssCoefficients) {
796 scratch = Aerodynamics->GetCoefficientStrings(",");
797 if (scratch.length() != 0) socket->Append(scratch);
799 if (SubSystems & ssFCS) {
800 scratch = FCS->GetComponentStrings(",");
801 if (scratch.length() != 0) socket->Append(scratch);
803 if (SubSystems & ssGroundReactions) {
804 socket->Append(GroundReactions->GetGroundReactionStrings(","));
806 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
807 socket->Append(Propulsion->GetPropulsionStrings(","));
809 if (OutputProperties.size() > 0) {
810 for (unsigned int i=0;i<OutputProperties.size();i++) {
811 socket->Append(OutputProperties[i]->GetPrintableName());
820 socket->Append(State->Getsim_time());
822 if (SubSystems & ssAerosurfaces) {
823 socket->Append(FCS->GetDaCmd());
824 socket->Append(FCS->GetDeCmd());
825 socket->Append(FCS->GetDrCmd());
826 socket->Append(FCS->GetDfCmd());
827 socket->Append(FCS->GetDaLPos());
828 socket->Append(FCS->GetDaRPos());
829 socket->Append(FCS->GetDePos());
830 socket->Append(FCS->GetDrPos());
831 socket->Append(FCS->GetDfPos());
833 if (SubSystems & ssRates) {
834 socket->Append(radtodeg*Propagate->GetPQR(eP));
835 socket->Append(radtodeg*Propagate->GetPQR(eQ));
836 socket->Append(radtodeg*Propagate->GetPQR(eR));
837 socket->Append(radtodeg*Propagate->GetPQRdot(eP));
838 socket->Append(radtodeg*Propagate->GetPQRdot(eQ));
839 socket->Append(radtodeg*Propagate->GetPQRdot(eR));
841 if (SubSystems & ssVelocities) {
842 socket->Append(Auxiliary->Getqbar());
843 socket->Append(Auxiliary->GetVt());
844 socket->Append(Propagate->GetUVW(eU));
845 socket->Append(Propagate->GetUVW(eV));
846 socket->Append(Propagate->GetUVW(eW));
847 socket->Append(Auxiliary->GetAeroUVW(eU));
848 socket->Append(Auxiliary->GetAeroUVW(eV));
849 socket->Append(Auxiliary->GetAeroUVW(eW));
850 socket->Append(Propagate->GetVel(eNorth));
851 socket->Append(Propagate->GetVel(eEast));
852 socket->Append(Propagate->GetVel(eDown));
854 if (SubSystems & ssForces) {
855 socket->Append(Aerodynamics->GetvFw()(eDrag));
856 socket->Append(Aerodynamics->GetvFw()(eSide));
857 socket->Append(Aerodynamics->GetvFw()(eLift));
858 socket->Append(Aerodynamics->GetLoD());
859 socket->Append(Aircraft->GetForces(eX));
860 socket->Append(Aircraft->GetForces(eY));
861 socket->Append(Aircraft->GetForces(eZ));
863 if (SubSystems & ssMoments) {
864 socket->Append(Aircraft->GetMoments(eL));
865 socket->Append(Aircraft->GetMoments(eM));
866 socket->Append(Aircraft->GetMoments(eN));
868 if (SubSystems & ssAtmosphere) {
869 socket->Append(Atmosphere->GetDensity());
870 socket->Append(Atmosphere->GetPressureSL());
871 socket->Append(Atmosphere->GetPressure());
872 socket->Append(Atmosphere->GetTurbMagnitude());
873 socket->Append(Atmosphere->GetTurbDirection().Dump(","));
874 socket->Append(Atmosphere->GetTotalWindNED().Dump(","));
876 if (SubSystems & ssMassProps) {
877 socket->Append(MassBalance->GetJ()(1,1));
878 socket->Append(MassBalance->GetJ()(1,2));
879 socket->Append(MassBalance->GetJ()(1,3));
880 socket->Append(MassBalance->GetJ()(2,1));
881 socket->Append(MassBalance->GetJ()(2,2));
882 socket->Append(MassBalance->GetJ()(2,3));
883 socket->Append(MassBalance->GetJ()(3,1));
884 socket->Append(MassBalance->GetJ()(3,2));
885 socket->Append(MassBalance->GetJ()(3,3));
886 socket->Append(MassBalance->GetMass());
887 socket->Append(MassBalance->GetXYZcg()(eX));
888 socket->Append(MassBalance->GetXYZcg()(eY));
889 socket->Append(MassBalance->GetXYZcg()(eZ));
891 if (SubSystems & ssPropagate) {
892 socket->Append(Propagate->GetAltitudeASL());
893 socket->Append(radtodeg*Propagate->GetEuler(ePhi));
894 socket->Append(radtodeg*Propagate->GetEuler(eTht));
895 socket->Append(radtodeg*Propagate->GetEuler(ePsi));
896 socket->Append(Auxiliary->Getalpha(inDegrees));
897 socket->Append(Auxiliary->Getbeta(inDegrees));
898 socket->Append(Propagate->GetLocation().GetLatitudeDeg());
899 socket->Append(Propagate->GetLocation().GetLongitudeDeg());
901 if (SubSystems & ssCoefficients) {
902 scratch = Aerodynamics->GetCoefficientValues(",");
903 if (scratch.length() != 0) socket->Append(scratch);
905 if (SubSystems & ssFCS) {
906 scratch = FCS->GetComponentValues(",");
907 if (scratch.length() != 0) socket->Append(scratch);
909 if (SubSystems & ssGroundReactions) {
910 socket->Append(GroundReactions->GetGroundReactionValues(","));
912 if (SubSystems & ssPropulsion && Propulsion->GetNumEngines() > 0) {
913 socket->Append(Propulsion->GetPropulsionValues(","));
916 for (unsigned int i=0;i<OutputProperties.size();i++) {
917 socket->Append(OutputProperties[i]->getDoubleValue());
923 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
925 void FGOutput::SocketStatusOutput(const string& out_str)
929 if (socket == NULL) return;
932 asciiData = string("<STATUS>") + out_str;
933 socket->Append(asciiData.c_str());
937 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
939 bool FGOutput::Load(Element* element)
941 string type="", parameter="";
943 string protocol="tcp";
947 Element *property_element;
949 string separator = "/";
951 if (!DirectivesFile.empty()) { // A directives filename from the command line overrides
952 output_file_name = DirectivesFile; // one found in the config file.
953 document = LoadXMLDocument(output_file_name);
954 } else if (!element->GetAttributeValue("file").empty()) {
955 output_file_name = element->GetAttributeValue("file");
956 document = LoadXMLDocument(output_file_name);
961 name = document->GetAttributeValue("name");
962 type = document->GetAttributeValue("type");
964 if (!document->GetAttributeValue("port").empty() && type == string("SOCKET")) {
965 port = atoi(document->GetAttributeValue("port").c_str());
966 socket = new FGfdmSocket(name, port);
967 } else if (!document->GetAttributeValue("port").empty() && type == string("FLIGHTGEAR")) {
968 port = atoi(document->GetAttributeValue("port").c_str());
969 if (!document->GetAttributeValue("protocol").empty())
970 protocol = document->GetAttributeValue("protocol");
971 if (protocol == "udp")
972 flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptUDP); // create udp socket
974 flightGearSocket = new FGfdmSocket(name, port, FGfdmSocket::ptTCP); // create tcp socket (default)
976 BaseFilename = Filename = name;
978 if (!document->GetAttributeValue("rate").empty()) {
979 OutRate = (int)document->GetAttributeValueAsNumber("rate");
984 if (document->FindElementValue("simulation") == string("ON"))
985 SubSystems += ssSimulation;
986 if (document->FindElementValue("aerosurfaces") == string("ON"))
987 SubSystems += ssAerosurfaces;
988 if (document->FindElementValue("rates") == string("ON"))
989 SubSystems += ssRates;
990 if (document->FindElementValue("velocities") == string("ON"))
991 SubSystems += ssVelocities;
992 if (document->FindElementValue("forces") == string("ON"))
993 SubSystems += ssForces;
994 if (document->FindElementValue("moments") == string("ON"))
995 SubSystems += ssMoments;
996 if (document->FindElementValue("atmosphere") == string("ON"))
997 SubSystems += ssAtmosphere;
998 if (document->FindElementValue("massprops") == string("ON"))
999 SubSystems += ssMassProps;
1000 if (document->FindElementValue("position") == string("ON"))
1001 SubSystems += ssPropagate;
1002 if (document->FindElementValue("coefficients") == string("ON"))
1003 SubSystems += ssCoefficients;
1004 if (document->FindElementValue("ground_reactions") == string("ON"))
1005 SubSystems += ssGroundReactions;
1006 if (document->FindElementValue("fcs") == string("ON"))
1007 SubSystems += ssFCS;
1008 if (document->FindElementValue("propulsion") == string("ON"))
1009 SubSystems += ssPropulsion;
1010 property_element = document->FindElement("property");
1011 while (property_element) {
1012 string property_str = property_element->GetDataLine();
1013 FGPropertyManager* node = PropertyManager->GetNode(property_str);
1015 cerr << fgred << highint << endl << " No property by the name "
1016 << property_str << " has been defined. This property will " << endl
1017 << " not be logged. You should check your configuration file."
1020 OutputProperties.push_back(node);
1022 property_element = document->FindNextElement("property");
1032 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1034 void FGOutput::SetRate(int rtHz)
1036 rtHz = rtHz>1000?1000:(rtHz<0?0:rtHz);
1038 rate = (int)(0.5 + 1.0/(State->Getdt()*rtHz));
1046 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
1047 // The bitmasked value choices are as follows:
1048 // unset: In this case (the default) JSBSim would only print
1049 // out the normally expected messages, essentially echoing
1050 // the config files as they are read. If the environment
1051 // variable is not set, debug_lvl is set to 1 internally
1052 // 0: This requests JSBSim not to output any messages
1054 // 1: This value explicity requests the normal JSBSim
1056 // 2: This value asks for a message to be printed out when
1057 // a class is instantiated
1058 // 4: When this value is set, a message is displayed when a
1059 // FGModel object executes its Run() method
1060 // 8: When this value is set, various runtime state variables
1061 // are printed out periodically
1062 // 16: When set various parameters are sanity checked and
1063 // a message is printed out when they go out of bounds
1065 void FGOutput::Debug(int from)
1069 if (debug_lvl <= 0) return;
1071 if (debug_lvl & 1) { // Standard console startup message output
1072 if (from == 0) { // Constructor
1076 if (output_file_name.empty())
1077 cout << " " << "Output parameters read inline" << endl;
1079 cout << " Output parameters read from file: " << output_file_name << endl;
1081 if (Filename == "cout" || Filename == "COUT") {
1082 scratch = " Log output goes to screen console";
1083 } else if (!Filename.empty()) {
1084 scratch = " Log output goes to file: " + Filename;
1088 cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
1092 cout << " No log output" << endl;
1096 if (SubSystems & ssSimulation) cout << " Simulation parameters logged" << endl;
1097 if (SubSystems & ssAerosurfaces) cout << " Aerosurface parameters logged" << endl;
1098 if (SubSystems & ssRates) cout << " Rate parameters logged" << endl;
1099 if (SubSystems & ssVelocities) cout << " Velocity parameters logged" << endl;
1100 if (SubSystems & ssForces) cout << " Force parameters logged" << endl;
1101 if (SubSystems & ssMoments) cout << " Moments parameters logged" << endl;
1102 if (SubSystems & ssAtmosphere) cout << " Atmosphere parameters logged" << endl;
1103 if (SubSystems & ssMassProps) cout << " Mass parameters logged" << endl;
1104 if (SubSystems & ssCoefficients) cout << " Coefficient parameters logged" << endl;
1105 if (SubSystems & ssPropagate) cout << " Propagate parameters logged" << endl;
1106 if (SubSystems & ssGroundReactions) cout << " Ground parameters logged" << endl;
1107 if (SubSystems & ssFCS) cout << " FCS parameters logged" << endl;
1108 if (SubSystems & ssPropulsion) cout << " Propulsion parameters logged" << endl;
1109 if (OutputProperties.size() > 0) cout << " Properties logged:" << endl;
1110 for (unsigned int i=0;i<OutputProperties.size();i++) {
1111 cout << " - " << OutputProperties[i]->GetName() << endl;
1115 if (debug_lvl & 2 ) { // Instantiation/Destruction notification
1116 if (from == 0) cout << "Instantiated: FGOutput" << endl;
1117 if (from == 1) cout << "Destroyed: FGOutput" << endl;
1119 if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
1121 if (debug_lvl & 8 ) { // Runtime state variables
1123 if (debug_lvl & 16) { // Sanity checking
1125 if (debug_lvl & 64) {
1126 if (from == 0) { // Constructor
1127 cout << IdSrc << endl;
1128 cout << IdHdr << endl;